In my opinion, the closest fruit to this is a grape. But it must be peeled before consuming.
One group of fruits is what I call “semi-inedible” fruits because they don’t have an inedible peel–they’re not completely soft and ripened enough to eat with your hands unless you’re a ninja with a knack for supple fruit. Examples are melons and most berries that have been allowed to ripen on the plant will taste better than when eaten off the vine or picked too early…